
//  Copyright (c) 2003-2022 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.	Redistributions of source code must retain the above copyright notice,
//  	this list of conditions, and the following disclaimer.
//  
//  2.	Redistributions in binary form must reproduce the above copyright notice,
//  	this list of conditions, and the following disclaimer in the documentation
//  	and/or other materials provided with the distribution.
//  
//  3.	Neither the names of the copyright holders nor the names of their contributors
//  	may be used to endorse or promote products derived from this software without
//  	specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  


//  Copyright (c) 2003-2022 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//  
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//  
//  1.	Redistributions of source code must retain the above copyright notice,
//  	this list of conditions, and the following disclaimer.
//  
//  2.	Redistributions in binary form must reproduce the above copyright notice,
//  	this list of conditions, and the following disclaimer in the documentation
//  	and/or other materials provided with the distribution.
//  
//  3.	Neither the names of the copyright holders nor the names of their contributors
//  	may be used to endorse or promote products derived from this software without
//  	specific prior written permission.
//  
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//  

#include "mtixdevice.h"

#include <xstypes/xsdatapacket.h>
#include "replyobject.h"
#include "communicator.h"
#include "scenariomatchpred.h"
#include <xstypes/xsstatusflag.h>

#include <xstypes/xssensorranges.h>
#include "synclinegmt.h"
#include <xstypes/xssyncsetting.h>

using namespace xsens;

/*! \brief Constructs a device
	\param comm The communicator to construct with
*/
MtiXDevice::MtiXDevice(Communicator* comm)
	: MtiBaseDeviceEx(comm)
{
	if (comm)
		comm->setDefaultTimeout(2000); //Increase the default timeout for MTi-1 devices because a settings write can occasionally take ~900ms
}

/*! \brief Destroys a device
*/
MtiXDevice::~MtiXDevice()
{
}

/*! \brief Returns the base update rate (Hz) corresponding to the dataType. Returns 0 if no update rate is available
*/
MtiBaseDevice::BaseFrequencyResult MtiXDevice::getBaseFrequencyInternal(XsDataIdentifier dataType) const
{
	MtiBaseDevice::BaseFrequencyResult result;
	result.m_frequency = 0;
	result.m_divedable = true;

	if ((dataType == XDI_FreeAcceleration && deviceId().isImu()) ||
		((dataType & XDI_FullTypeMask) == XDI_LocationId) ||
		((dataType & XDI_FullTypeMask) == XDI_DeviceId))
		return result;

	if ((dataType & XDI_FullTypeMask) == XDI_AccelerationHR || (dataType & XDI_FullTypeMask) == XDI_RateOfTurnHR)
	{
		bool isMtMk4_1_v1 = hardwareVersion().major() == 1;
		bool isMtMk4_1_v2 = hardwareVersion().major() == 2;
		result.m_frequency = isMtMk4_1_v2 ? 800 : 1000;
		result.m_divedable = isMtMk4_1_v1 ? false : true;

		return result;
	}

	auto baseFreq = [this](XsDataIdentifier dataType)
	{
		switch (dataType & XDI_TypeMask)
		{
			case XDI_None:
				return 100;
			case XDI_TimestampGroup:
				return XDI_MAX_FREQUENCY_VAL;
			case XDI_StatusGroup:
				return 100;
			case XDI_TemperatureGroup:
				return 100;
			case XDI_OrientationGroup:
				return deviceId().isImu() ? 0 : 100;
			case XDI_AccelerationGroup:
				return 100;
			case XDI_AngularVelocityGroup:
				return 100;
			case XDI_MagneticGroup:
				return 100;

			case XDI_GnssGroup:
				return deviceId().isGnss() ? 4 : 0;
			case XDI_PressureGroup:
				return deviceId().isGnss() ? 50 : 0;
			case XDI_PositionGroup:
				return deviceId().isGnss() ? 100 : 0;
			case XDI_VelocityGroup:
				return deviceId().isGnss() ? 100 : 0;
			default:
				return 0;
		}
	};
	result.m_frequency = baseFreq(dataType);

	if ((dataType & XDI_TypeMask) == XDI_TimestampGroup)
		result.m_divedable = false;

	return result;
}

/*! \returns True if this device has an ICC support
*/
bool MtiXDevice::hasIccSupport() const
{
	return (firmwareVersion() >= XsVersion(1, 1, 0));
}

uint32_t MtiXDevice::supportedStatusFlags() const
{
	return (uint32_t)(XSF_ExternalClockSynced
			| (deviceId().isImu() ? 0 : XSF_OrientationValid
				| XSF_NoRotationMask
				| XSF_RepresentativeMotion
			)
			| XSF_ClipAccX
			| XSF_ClipAccY
			| XSF_ClipAccZ
			| XSF_ClipGyrX
			| XSF_ClipGyrY
			| XSF_ClipGyrZ
			| XSF_ClipMagX
			| XSF_ClipMagY
			| XSF_ClipMagZ
			//|XSF_Retransmitted
			| XSF_ClippingDetected
			//|XSF_Interpolated
			| XSF_SyncIn
			| XSF_SyncOut
			//|XSF_FilterMode
			//|XSF_HaveGnssTimePulse
		);
}

/*! \copybrief XsDevice::shortProductCode
*/
XsString MtiXDevice::shortProductCode() const
{
	XsString code = productCode();

	if (hardwareVersion() >= XsVersion(2, 0, 0))
		code = stripProductCode(code);

	return code;
}
